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<h1>mindsensors-sensormux.h</h1>  </div>
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<a href="mindsensors-sensormux_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*!@addtogroup mindsensors</span>
<a name="l00002"></a>00002 <span class="comment"> * @{</span>
<a name="l00003"></a>00003 <span class="comment"> * @defgroup MSSMUX SensorMUX Sensor</span>
<a name="l00004"></a>00004 <span class="comment"> * Mindsensors SensorMUX Sensor (MSSMUX) driver</span>
<a name="l00005"></a>00005 <span class="comment"> * @{</span>
<a name="l00006"></a>00006 <span class="comment"> */</span>
<a name="l00007"></a>00007 
<a name="l00008"></a>00008 <span class="comment">/*</span>
<a name="l00009"></a>00009 <span class="comment"> * $Id: mindsensors-sensormux.h 136 2013-03-13 18:52:29Z xander $</span>
<a name="l00010"></a>00010 <span class="comment"> */</span>
<a name="l00011"></a>00011 
<a name="l00012"></a>00012 <span class="preprocessor">#ifndef __MSSMUX_H__</span>
<a name="l00013"></a>00013 <span class="preprocessor"></span><span class="preprocessor">#define __MSSMUX_H__</span>
<a name="l00014"></a>00014 <span class="preprocessor"></span><span class="comment">/** \file mindsensors-sensormux.h</span>
<a name="l00015"></a>00015 <span class="comment"> * \brief Mindsensors SensorMUX Sensor driver</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> * mindsensors-sensormux.h provides an API for the Mindsensors SensorMUX Sensor.</span>
<a name="l00018"></a>00018 <span class="comment"> *</span>
<a name="l00019"></a>00019 <span class="comment"> * Changelog:</span>
<a name="l00020"></a>00020 <span class="comment"> * - 0.1: Initial release</span>
<a name="l00021"></a>00021 <span class="comment"> *</span>
<a name="l00022"></a>00022 <span class="comment"> * Credits:</span>
<a name="l00023"></a>00023 <span class="comment"> * - Big thanks to Mindsensors for providing me with the hardware necessary to write and test this.</span>
<a name="l00024"></a>00024 <span class="comment"> *</span>
<a name="l00025"></a>00025 <span class="comment"> * License: You may use this code as you wish, provided you give credit where its due.</span>
<a name="l00026"></a>00026 <span class="comment"> *</span>
<a name="l00027"></a>00027 <span class="comment"> * THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER.</span>
<a name="l00028"></a>00028 <span class="comment"></span>
<a name="l00029"></a>00029 <span class="comment"> * \author Xander Soldaat (xander_at_botbench.com)</span>
<a name="l00030"></a>00030 <span class="comment"> * \date 02 March 2013</span>
<a name="l00031"></a>00031 <span class="comment"> * \version 0.1</span>
<a name="l00032"></a>00032 <span class="comment"> * \example mindsensors-sensormux-test1.c</span>
<a name="l00033"></a>00033 <span class="comment"> * \example mindsensors-sensormux-test2.c</span>
<a name="l00034"></a>00034 <span class="comment"> */</span>
<a name="l00035"></a>00035 
<a name="l00036"></a>00036 <span class="preprocessor">#pragma systemFile</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span>
<a name="l00038"></a>00038 <span class="preprocessor">#ifndef __COMMON_H__</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span><span class="preprocessor">#include &quot;<a class="code" href="common_8h.html" title="Commonly used functions used by drivers.">common.h</a>&quot;</span>
<a name="l00040"></a>00040 <span class="preprocessor">#endif</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span>
<a name="l00042"></a><a class="code" href="group___m_s_s_m_u_x.html#ga8dcaf4bfd47e1e76cdda4dde1773872e">00042</a> <span class="preprocessor">#define MSMX_I2C_ADDR     0x24</span>
<a name="l00043"></a><a class="code" href="group___m_s_s_m_u_x.html#ga95f2b8e445c6dbe6562b545b9aea7776">00043</a> <span class="preprocessor"></span><span class="preprocessor">#define MSMX_REG_CHANSEL  0x42</span>
<a name="l00044"></a><a class="code" href="group___m_s_s_m_u_x.html#ga26326c48fb9e3940f6687ab39ec2368c">00044</a> <span class="preprocessor"></span><span class="preprocessor">#define MSMX_REG_VOLTAGE  0x43</span>
<a name="l00045"></a>00045 <span class="preprocessor"></span>
<a name="l00046"></a>00046 
<a name="l00047"></a><a class="code" href="group___m_s_s_m_u_x.html#gad44aee50a8ba71283840558960cec9f6">00047</a> <a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a> <a class="code" href="group___m_s_s_m_u_x.html#gad44aee50a8ba71283840558960cec9f6">MSMX_I2CRequest</a>;    <span class="comment">/*!&lt; Array to hold I2C command data */</span>
<a name="l00048"></a><a class="code" href="group___m_s_s_m_u_x.html#ga36ef673884d67bee7c7982209b02114d">00048</a> <a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a> <a class="code" href="group___m_s_s_m_u_x.html#ga36ef673884d67bee7c7982209b02114d">MSMX_I2CReply</a>;      <span class="comment">/*!&lt; Array to hold I2C reply data */</span>
<a name="l00049"></a>00049 
<a name="l00050"></a>00050 <span class="keywordtype">void</span> <a class="code" href="group___m_s_s_m_u_x.html#gab52589a0fba3514fbc5c2297c961e266">MSSMUXsetChan</a>(tSensors link, <span class="keywordtype">int</span> channel);
<a name="l00051"></a>00051 <span class="keywordtype">int</span> <a class="code" href="group___m_s_s_m_u_x.html#ga1ba61d2d7f85014fa3e8a7824bf0214c">MSSMUXreadBattery</a>(tSensors link);
<a name="l00052"></a>00052 
<a name="l00053"></a>00053 <span class="comment"></span>
<a name="l00054"></a>00054 <span class="comment">/**</span>
<a name="l00055"></a>00055 <span class="comment"> * Read the voltage level of the external battery.</span>
<a name="l00056"></a>00056 <span class="comment"> * @param link the port number</span>
<a name="l00057"></a>00057 <span class="comment"> * @return the battery voltage in mV</span>
<a name="l00058"></a>00058 <span class="comment"> */</span>
<a name="l00059"></a><a class="code" href="group___m_s_s_m_u_x.html#ga1ba61d2d7f85014fa3e8a7824bf0214c">00059</a> <span class="keywordtype">int</span> <a class="code" href="group___m_s_s_m_u_x.html#ga1ba61d2d7f85014fa3e8a7824bf0214c">MSSMUXreadBattery</a>(tSensors link)
<a name="l00060"></a>00060 {
<a name="l00061"></a>00061   <span class="comment">// Switch to the virtual channel (0)</span>
<a name="l00062"></a>00062   <a class="code" href="group___m_s_s_m_u_x.html#gab52589a0fba3514fbc5c2297c961e266">MSSMUXsetChan</a>(link, 0);
<a name="l00063"></a>00063   wait1Msec(50);
<a name="l00064"></a>00064 
<a name="l00065"></a>00065   SensorType[link] = sensorI2CCustomFastSkipStates;
<a name="l00066"></a>00066   memset(<a class="code" href="group___m_s_s_m_u_x.html#gad44aee50a8ba71283840558960cec9f6">MSMX_I2CRequest</a>, 0, <span class="keyword">sizeof</span>(<a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>));
<a name="l00067"></a>00067 
<a name="l00068"></a>00068   <a class="code" href="group___m_s_s_m_u_x.html#gad44aee50a8ba71283840558960cec9f6">MSMX_I2CRequest</a>[0] = 2;                      <span class="comment">// Message size</span>
<a name="l00069"></a>00069   <a class="code" href="group___m_s_s_m_u_x.html#gad44aee50a8ba71283840558960cec9f6">MSMX_I2CRequest</a>[1] = <a class="code" href="group___m_s_s_m_u_x.html#ga8dcaf4bfd47e1e76cdda4dde1773872e">MSMX_I2C_ADDR</a>;         <span class="comment">// I2C Address</span>
<a name="l00070"></a>00070   <a class="code" href="group___m_s_s_m_u_x.html#gad44aee50a8ba71283840558960cec9f6">MSMX_I2CRequest</a>[2] = <a class="code" href="group___m_s_s_m_u_x.html#ga26326c48fb9e3940f6687ab39ec2368c">MSMX_REG_VOLTAGE</a>;
<a name="l00071"></a>00071 
<a name="l00072"></a>00072   <span class="keywordflow">if</span> (!<a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group___m_s_s_m_u_x.html#gad44aee50a8ba71283840558960cec9f6">MSMX_I2CRequest</a>, <a class="code" href="group___m_s_s_m_u_x.html#ga36ef673884d67bee7c7982209b02114d">MSMX_I2CReply</a>, 1))
<a name="l00073"></a>00073   {
<a name="l00074"></a>00074     writeDebugStreamLine(<span class="stringliteral">&quot;error with i2c&quot;</span>);
<a name="l00075"></a>00075     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00076"></a>00076   }
<a name="l00077"></a>00077 
<a name="l00078"></a>00078   <span class="keywordflow">return</span> (0x00FF &amp; <a class="code" href="group___m_s_s_m_u_x.html#ga36ef673884d67bee7c7982209b02114d">MSMX_I2CReply</a>[0]) * 37;
<a name="l00079"></a>00079 }
<a name="l00080"></a>00080 <span class="comment"></span>
<a name="l00081"></a>00081 <span class="comment">/**</span>
<a name="l00082"></a>00082 <span class="comment"> * Switch to the specified channel</span>
<a name="l00083"></a>00083 <span class="comment"> * @param link the port number</span>
<a name="l00084"></a>00084 <span class="comment"> * @param channel the sensor mux channel number</span>
<a name="l00085"></a>00085 <span class="comment"> */</span>
<a name="l00086"></a><a class="code" href="group___m_s_s_m_u_x.html#gab52589a0fba3514fbc5c2297c961e266">00086</a> <span class="keywordtype">void</span> <a class="code" href="group___m_s_s_m_u_x.html#gab52589a0fba3514fbc5c2297c961e266">MSSMUXsetChan</a>(tSensors link, <span class="keywordtype">int</span> channel)
<a name="l00087"></a>00087 {
<a name="l00088"></a>00088   <span class="keyword">static</span> <span class="keywordtype">int</span> currChannel[4] = {-1, -1, -1, -1};
<a name="l00089"></a>00089 
<a name="l00090"></a>00090   <span class="comment">// Message to send to SMUX</span>
<a name="l00091"></a>00091   ubyte MUXmsg[] = {0x55, 0xAA, 0x30 + (channel &amp; 0xFF)};
<a name="l00092"></a>00092 
<a name="l00093"></a>00093   <span class="comment">// Do nothing if the channel is already set correctly</span>
<a name="l00094"></a>00094   <span class="keywordflow">if</span> (currChannel[link] == channel)
<a name="l00095"></a>00095     <span class="keywordflow">return</span>;
<a name="l00096"></a>00096 
<a name="l00097"></a>00097   currChannel[link] = channel;
<a name="l00098"></a>00098 
<a name="l00099"></a>00099   TSensorTypes previous = SensorType[link];
<a name="l00100"></a>00100   writeDebugStreamLine(<span class="stringliteral">&quot;channel type: %d&quot;</span>, previous);
<a name="l00101"></a>00101 
<a name="l00102"></a>00102   <span class="comment">// Set the sensor type to sensorCustom so we can</span>
<a name="l00103"></a>00103   <span class="comment">// start sending messages</span>
<a name="l00104"></a>00104   SensorType[link] = sensorCustom;
<a name="l00105"></a>00105 
<a name="l00106"></a>00106   <span class="comment">// If the sensor was previously configured as a colour sensor</span>
<a name="l00107"></a>00107   <span class="comment">// give it a little time</span>
<a name="l00108"></a>00108   <span class="keywordflow">switch</span> (previous)
<a name="l00109"></a>00109   {
<a name="l00110"></a>00110     <span class="keywordflow">case</span> sensorCOLORFULL:
<a name="l00111"></a>00111     <span class="keywordflow">case</span> sensorCOLORRED:
<a name="l00112"></a>00112     <span class="keywordflow">case</span> sensorCOLORGREEN:
<a name="l00113"></a>00113     <span class="keywordflow">case</span> sensorCOLORBLUE:
<a name="l00114"></a>00114     <span class="keywordflow">case</span> sensorCOLORNONE: wait1Msec(12); <span class="keywordflow">break</span>;
<a name="l00115"></a>00115   }
<a name="l00116"></a>00116 
<a name="l00117"></a>00117   <span class="comment">// Set both pins as output</span>
<a name="l00118"></a>00118   DigitalPinDirection[link] = 0x03;
<a name="l00119"></a>00119   wait1Msec(1);
<a name="l00120"></a>00120 
<a name="l00121"></a>00121   <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 3; i++)
<a name="l00122"></a>00122   {
<a name="l00123"></a>00123     DigitalPinValue[link] = 0x00;
<a name="l00124"></a>00124     wait1Msec(1);
<a name="l00125"></a>00125 
<a name="l00126"></a>00126     <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 8; j++) {
<a name="l00127"></a>00127       <span class="keywordflow">if</span> ((MUXmsg[i] &gt;&gt; j) &amp; 0x01)
<a name="l00128"></a>00128         DigitalPinValue[link] = 0x00;
<a name="l00129"></a>00129       <span class="keywordflow">else</span>
<a name="l00130"></a>00130         DigitalPinValue[link] = 0x01;
<a name="l00131"></a>00131       wait1Msec(1);
<a name="l00132"></a>00132     }
<a name="l00133"></a>00133     DigitalPinValue[link] = 0x01;
<a name="l00134"></a>00134     wait1Msec(1);
<a name="l00135"></a>00135   }
<a name="l00136"></a>00136 }
<a name="l00137"></a>00137 
<a name="l00138"></a>00138 <span class="preprocessor">#endif // __MSSMUX_H__</span>
<a name="l00139"></a>00139 <span class="preprocessor"></span>
<a name="l00140"></a>00140 <span class="comment">/*</span>
<a name="l00141"></a>00141 <span class="comment"> * $Id: mindsensors-sensormux.h 136 2013-03-13 18:52:29Z xander $</span>
<a name="l00142"></a>00142 <span class="comment"> */</span>
<a name="l00143"></a>00143 <span class="comment">/* @} */</span>
<a name="l00144"></a>00144 <span class="comment">/* @} */</span>
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